US8583285B2 - Method and device for stopping a manipulator - Google Patents
Method and device for stopping a manipulator Download PDFInfo
- Publication number
- US8583285B2 US8583285B2 US12/875,351 US87535110A US8583285B2 US 8583285 B2 US8583285 B2 US 8583285B2 US 87535110 A US87535110 A US 87535110A US 8583285 B2 US8583285 B2 US 8583285B2
- Authority
- US
- United States
- Prior art keywords
- manipulator
- stopping distance
- protected zone
- load
- distance value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related, expires
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
J×d 2 q/dt 2=−τ (1)
depending on its initial velocity ω by time integration to
s=(J×ω 2)/(2×τ0) (2).
s=f(q,dq/dt,L) (3)
depending on joint coordinates q, their first time derivative or joint velocity dq/dt and load parameters L, which can include the load mass as well as its moments of inertia and position of center of gravity, is hardly still possible online during operation.
τi=μ0×(dq i /dt)/|dq i /dt|+μ×(dq i /dt), (4)
with braking moment τi acting on axis i and the coefficients of static and sliding friction μ0, μ<0. Instead of different braking force profiles, the same braking force profile may be used in each case for the variation of states, for example, a minimal braking force profile for each axis, so as to guarantee that the actual braking force profile is higher, and the actual stopping distance is consequently always shorter than the simulated distance.
s max,ref,ij =f(q i ,dq j /dt,L ref,τl); i=1, 2, . . . ; j=1, 2, . . . ; l=1, 2, . . . (5)
F(x)=max{f(q i,dqj /dt,L ref)|Q(dq j /dt)=x±δ} (7)
where “max{Y(x)|Z(x)=X},” according to conventional usage in the field, designates the maximum of all values Y whose argument x has the property Z(x)=X.
Q k ≦Q≦Q k+1 P(Q)≧F(Q). (8)
- 1 robot
- 1.1, 1.2 robot arms
- A0, A1, A2 protected zone
- L payload
- smax maximum stopping distance
- q1, q2 joint angle
Claims (9)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009040145A DE102009040145A1 (en) | 2009-09-04 | 2009-09-04 | Method and device for stopping a manipulator |
DE102009040145.8 | 2009-09-04 | ||
DE102009040145 | 2009-09-04 |
Publications (2)
Publication Number | Publication Date |
---|---|
US20110060462A1 US20110060462A1 (en) | 2011-03-10 |
US8583285B2 true US8583285B2 (en) | 2013-11-12 |
Family
ID=43385655
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/875,351 Expired - Fee Related US8583285B2 (en) | 2009-09-04 | 2010-09-03 | Method and device for stopping a manipulator |
Country Status (6)
Country | Link |
---|---|
US (1) | US8583285B2 (en) |
EP (1) | EP2292388B1 (en) |
KR (1) | KR101265903B1 (en) |
CN (1) | CN102011932B (en) |
AT (1) | ATE552076T1 (en) |
DE (1) | DE102009040145A1 (en) |
Cited By (9)
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US20140012453A1 (en) * | 2012-07-09 | 2014-01-09 | Deere & Company | Navigation System and Method for Autonomous Mower |
CN105717872A (en) * | 2014-12-22 | 2016-06-29 | 库卡罗伯特有限公司 | Method and Manipulator Assembly for the Conditional Stopping of at Least One Manipulator on Path |
US9440353B1 (en) * | 2014-12-29 | 2016-09-13 | Google Inc. | Offline determination of robot behavior |
US9517561B2 (en) | 2014-08-25 | 2016-12-13 | Google Inc. | Natural pitch and roll |
US20170320212A1 (en) * | 2016-05-09 | 2017-11-09 | Opiflex Automation AB | Fenceless industrial robot system |
US9987745B1 (en) | 2016-04-01 | 2018-06-05 | Boston Dynamics, Inc. | Execution of robotic tasks |
US10220514B2 (en) | 2014-12-23 | 2019-03-05 | Kuka Roboter Gmbh | Override-based, predictive speed capping |
US11130227B2 (en) * | 2017-09-22 | 2021-09-28 | Seiko Epson Corporation | Robot control device, robot, and robot system |
US11839979B2 (en) | 2018-06-15 | 2023-12-12 | Universal Robots A/S | Dual mode free-drive of robot arm |
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JP5835254B2 (en) * | 2013-03-15 | 2015-12-24 | 株式会社安川電機 | Robot system and control method of robot system |
DE102014207072A1 (en) * | 2014-04-11 | 2015-10-15 | Kuka Roboter Gmbh | Method for operating a brake and associated machine, in particular robot |
DE102014224123B4 (en) * | 2014-11-26 | 2018-10-25 | Kuka Roboter Gmbh | Method for operating a robotic device and robotic device |
DE102014226239A1 (en) | 2014-12-17 | 2016-06-23 | Kuka Roboter Gmbh | Method for the safe coupling of an input device |
JP6077592B2 (en) | 2015-05-29 | 2017-02-08 | ファナック株式会社 | Motor control system and brake abnormality detection method having function of detecting brake abnormality |
JP6444908B2 (en) * | 2016-02-17 | 2018-12-26 | ファナック株式会社 | Robot simulation device for calculating sweep space |
JP6309990B2 (en) * | 2016-03-24 | 2018-04-11 | ファナック株式会社 | Robot system for controlling a robot composed of a plurality of mechanism units, the mechanism unit, and a robot control apparatus |
JP6603255B2 (en) * | 2017-03-13 | 2019-11-06 | ファナック株式会社 | Robot system and robot control method |
WO2018222762A2 (en) * | 2017-05-30 | 2018-12-06 | Sisu Devices Llc | Robotic point capture and motion control |
EP3437805B1 (en) * | 2017-08-02 | 2023-07-19 | ABB Schweiz AG | Robot stopping distance simulating method |
DE102017010599A1 (en) * | 2017-11-15 | 2019-05-16 | Kuka Deutschland Gmbh | Method and system for simulating a braking operation of a robot |
CN108098751A (en) * | 2017-12-06 | 2018-06-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Manipulator automatic emergency stop device and automatic emergency stop control method |
EP3498433A1 (en) * | 2017-12-14 | 2019-06-19 | Universal Robots A/S | Dynamical safety trajectories in a robotic system |
EP3569366B1 (en) * | 2018-05-17 | 2023-06-28 | Siemens Aktiengesellschaft | Robot control method and apparatus |
US11065553B2 (en) | 2018-05-18 | 2021-07-20 | Universal City Studios Llc | Systems and methods for securing a movable arm of a ride vehicle |
EP3572971B1 (en) * | 2018-05-22 | 2021-02-24 | Sick Ag | Securing a surveillance area with at least one machine |
EP3807058A1 (en) * | 2018-06-15 | 2021-04-21 | Universal Robots A/S | Estimation of payload attached to a robot arm |
WO2020047065A1 (en) | 2018-08-30 | 2020-03-05 | Veo Robotics, Inc. | System identification of industrial robot dynamics for safety-critical applications |
WO2020056301A1 (en) | 2018-09-13 | 2020-03-19 | The Charles Stark Draper Laboratory, Inc. | Robot interaction with human co-workers |
DE102019121628B3 (en) * | 2019-08-12 | 2020-08-20 | Franka Emika Gmbh | Method for operating a robot manipulator with an increased mass of a load |
DE102019125326B3 (en) * | 2019-09-20 | 2020-12-03 | Franka Emika Gmbh | Predicted braking range of a robot manipulator |
JP7326139B2 (en) * | 2019-12-09 | 2023-08-15 | 株式会社東芝 | WORK SUPPORT DEVICE, WORK SUPPORT METHOD, PROGRAM, AND WORK SUPPORT SYSTEM |
CN114074326A (en) * | 2020-08-14 | 2022-02-22 | 苏州艾利特机器人有限公司 | Safety system for ensuring boundary limitation of robot posture |
CN113370212A (en) * | 2021-06-25 | 2021-09-10 | 三一建筑机器人(西安)研究院有限公司 | Safe operation method, device and control system for truss manipulator |
CN114012721A (en) * | 2021-10-28 | 2022-02-08 | 珠海格力电器股份有限公司 | Robot brake control method and device and related equipment |
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US20060292308A1 (en) * | 2003-11-06 | 2006-12-28 | Clifford Scott J | Compact robotic painting booth |
US20070265731A1 (en) * | 2006-05-15 | 2007-11-15 | Gunther Merk | Articulated arm robot |
US20080021597A1 (en) * | 2004-08-27 | 2008-01-24 | Abb Research Ltd. | Device And Method For Safeguarding A Machine-Controlled Handling Device |
DE102008013431A1 (en) | 2008-03-10 | 2009-05-07 | Siemens Aktiengesellschaft | Machine safety-oriented stopping procedure, involves releasing turn-off impulse in case of endangerment to persons, and stopping machine within maximum deceleration time during operation of machine |
US7664570B2 (en) * | 2003-04-23 | 2010-02-16 | Toyota Jidosha Kabushiki Kaisha | Method and apparatus for limiting the movement of a robot, and a robot equipped with said apparatus |
Family Cites Families (5)
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EP0179252A3 (en) * | 1984-09-14 | 1987-07-15 | Siemens Aktiengesellschaft | Method and apparatus for protecting people in the operating range of a movable part of a traversing or swiveling machine, particularly of an industrial robot |
DE10201488A1 (en) * | 2002-01-16 | 2003-07-31 | Duerr Systems Gmbh | Method for controlling robot arm movements within limits of space available establishes coordinates of reference points of arms and limits operation |
US6678582B2 (en) | 2002-05-30 | 2004-01-13 | Kuka Roboter Gmbh | Method and control device for avoiding collisions between cooperating robots |
DE102005037650A1 (en) * | 2005-08-05 | 2007-02-08 | Reis Gmbh & Co. Kg Maschinenfabrik | Safety system designed to prevent collisions between individuals and static- or mobile robots, compares their relative positions, warns of impending hazard, and shuts down if appropriate |
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2009
- 2009-09-04 DE DE102009040145A patent/DE102009040145A1/en not_active Withdrawn
-
2010
- 2010-08-17 AT AT10008576T patent/ATE552076T1/en active
- 2010-08-17 EP EP10008576A patent/EP2292388B1/en not_active Not-in-force
- 2010-09-03 KR KR1020100086460A patent/KR101265903B1/en active IP Right Grant
- 2010-09-03 US US12/875,351 patent/US8583285B2/en not_active Expired - Fee Related
- 2010-09-06 CN CN2010102752758A patent/CN102011932B/en not_active Expired - Fee Related
Patent Citations (5)
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US7664570B2 (en) * | 2003-04-23 | 2010-02-16 | Toyota Jidosha Kabushiki Kaisha | Method and apparatus for limiting the movement of a robot, and a robot equipped with said apparatus |
US20060292308A1 (en) * | 2003-11-06 | 2006-12-28 | Clifford Scott J | Compact robotic painting booth |
US20080021597A1 (en) * | 2004-08-27 | 2008-01-24 | Abb Research Ltd. | Device And Method For Safeguarding A Machine-Controlled Handling Device |
US20070265731A1 (en) * | 2006-05-15 | 2007-11-15 | Gunther Merk | Articulated arm robot |
DE102008013431A1 (en) | 2008-03-10 | 2009-05-07 | Siemens Aktiengesellschaft | Machine safety-oriented stopping procedure, involves releasing turn-off impulse in case of endangerment to persons, and stopping machine within maximum deceleration time during operation of machine |
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Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140012453A1 (en) * | 2012-07-09 | 2014-01-09 | Deere & Company | Navigation System and Method for Autonomous Mower |
US9026299B2 (en) * | 2012-07-09 | 2015-05-05 | Deere & Company | Navigation system and method for autonomous mower |
US10105850B2 (en) | 2014-08-25 | 2018-10-23 | Boston Dynamics, Inc. | Natural pitch and roll |
US9517561B2 (en) | 2014-08-25 | 2016-12-13 | Google Inc. | Natural pitch and roll |
US9662792B2 (en) | 2014-08-25 | 2017-05-30 | Google Inc. | Natural pitch and roll |
US11911916B2 (en) | 2014-08-25 | 2024-02-27 | Boston Dynamics, Inc. | Natural pitch and roll |
US11426875B2 (en) | 2014-08-25 | 2022-08-30 | Boston Dynamics, Inc. | Natural pitch and roll |
US10654168B2 (en) | 2014-08-25 | 2020-05-19 | Boston Dynamics, Inc. | Natural pitch and roll |
CN105717872A (en) * | 2014-12-22 | 2016-06-29 | 库卡罗伯特有限公司 | Method and Manipulator Assembly for the Conditional Stopping of at Least One Manipulator on Path |
US9827674B2 (en) | 2014-12-22 | 2017-11-28 | Kuka Roboter Gmbh | Method and manipulator assembly for the conditional stopping of at least one manipulator on a path |
US10220514B2 (en) | 2014-12-23 | 2019-03-05 | Kuka Roboter Gmbh | Override-based, predictive speed capping |
US9440353B1 (en) * | 2014-12-29 | 2016-09-13 | Google Inc. | Offline determination of robot behavior |
US10093019B1 (en) | 2014-12-29 | 2018-10-09 | Boston Dynamics, Inc. | Determination of robot behavior |
US11084167B1 (en) | 2014-12-29 | 2021-08-10 | Boston Dynamics, Inc. | Offline optimization to robot behavior |
US11865715B2 (en) | 2014-12-29 | 2024-01-09 | Boston Dynamics, Inc. | Offline optimization to robot behavior |
US9987745B1 (en) | 2016-04-01 | 2018-06-05 | Boston Dynamics, Inc. | Execution of robotic tasks |
US10500729B2 (en) * | 2016-05-09 | 2019-12-10 | Opiflex Automation AB | Fenceless industrial robot system |
US20170320212A1 (en) * | 2016-05-09 | 2017-11-09 | Opiflex Automation AB | Fenceless industrial robot system |
US11130227B2 (en) * | 2017-09-22 | 2021-09-28 | Seiko Epson Corporation | Robot control device, robot, and robot system |
US11839979B2 (en) | 2018-06-15 | 2023-12-12 | Universal Robots A/S | Dual mode free-drive of robot arm |
Also Published As
Publication number | Publication date |
---|---|
CN102011932B (en) | 2013-12-18 |
ATE552076T1 (en) | 2012-04-15 |
EP2292388B1 (en) | 2012-04-04 |
KR20110025626A (en) | 2011-03-10 |
DE102009040145A1 (en) | 2011-03-10 |
KR101265903B1 (en) | 2013-05-20 |
US20110060462A1 (en) | 2011-03-10 |
EP2292388A1 (en) | 2011-03-09 |
CN102011932A (en) | 2011-04-13 |
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AS | Assignment |
Owner name: KUKA ROBOTER GMBH, GERMANY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:AURNHAMMER, ANDREAS;EISENSEHR, MARKUS;HAGENAUER, ANDREAS;AND OTHERS;SIGNING DATES FROM 20100813 TO 20100816;REEL/FRAME:024957/0126 |
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Owner name: KUKA LABORATORIES GMBH, GERMANY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:KUKA ROBOTER GMBH;REEL/FRAME:025818/0534 Effective date: 20110126 |
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